Robot Surveyor Tool

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14 Δεκ 2013 (πριν από 3 χρόνια και 7 μήνες)

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Robot Surveyor Tool

Group 2

Interim Report

March 18, 2002




Project Advisor:

Professor Man



__________________________






Group Members


Andrew De Liso

Michael Haas

Dan Okken

Brian Treacy

Greg Fior



We pledge we have abided by the S
tevens Honor System



I Abstract


The Robot Surveyor Tool (RST) is a robot with a wireless link to a central
computing station to develop a floor plan for an unknown and possible hostile
environment. This RST system is going to address the issues of identi
fying the size and
shape of unknown objects in a two
-
dimensional format. The RST will develop an
accurate depiction of the dimensions of the room in which it is placed. The robot will be
comprised of a Motorola processor and the central computing station
, which will be an
IBM compatible PC. The information collected by the robot will be sent to the PC for
analysis and development into a floor plan. The final result of the process will be a
diagram detailing the size and locations of objects on a map.


I

1 Acknowledgements


Professor
Hong Man, Ph.D., Assistant Professor


For general technical advice and


guidance on the functionality of the robot.


Mr Robot


For guidance and technical advice on transmitter and robot design.

Profess
or Frederick Bruno


For the advice on topic and idea


II Project Status

The Design Approach

The design approach for the production of our prototype is a step by step process
slowly increasing the compilation of the robot at each step. This follows in acc
ordance
with our Final Design report with the following exception. Due to the delay in the main
shipment of our parts, our time period for production has been severely compressed.
With this compressed time frame we will relay heavily on our research to e
liminate errors
and reduce the learning curve that would be associated with this project.

Critical Components

At this point in time we have not received the bulk shipment of our parts for our
senior design project. Due to this fact our time line has suffe
red greatly and our project
completion status according to the design report is in jeopardy.

Planed Tests


The testing of our prototype will proceed through many stages. First we will test
the robot’s autonomous movement; its ability to find a wall when

placed in a room, travel
parallel to the wall, and maneuver around corners and obstacles. Next, the accuracy of
the map creation software will be tested. The robot will be placed parallel to a straight
wall and will travel a measured distance along the
wall. The distance received at the host
pc will be compared to the measured distance. Third, the robot will traverse several
corners of different angles and the created map will be compared to the actual corners.
Then the robot will be sent around the e
ntire perimeter of a room whose dimensions have
already been recorded. Again the map at the host PC will be compared to the actual


dimensions. Finally we will allow the robot to traverse the interior of a room with
multiple obstacles and compare the resu
lts.

Current Test Results


The robot travels in a room or area and transmits relevant information to the PC.
The PC produces a two
-
dimensional map of the room and displays it on the screen. The
program, which draws the map, uses OpenGL functions to imple
ment the rendering of
the map. A demonstration of the OpenGL program, which is written in the C
programming language, is in the working prototype stage. The result of this
demonstration is a functioning program that shows how the map will be displayed on

the
screen. This is critical to the overall prototype since it is a substantial part of the
objective of our senior design project. This program has been tested with respect to its
drawings to ensure that it draws an accurate map.

Anticipated Design Ris
k

The major design risk that remains is the integration of the wireless transmitter to
the robot and the PC. This section holds the key for the success of our project on any
level. This risk is being handled through extensive research in the use of wirel
ess
transmitters on Motorola chipsets.

Critical Technical Problem

The main Critical Problem lies not in the design of our project, but with the
supplier of our materials for this project. The main supplier of parts for our project (Mr.
Robot, See sectio
n I
-
1, acknowledgements) has basically not fulfilled its order for this
project. Whereas the parts had been ordered on January 24 and have not been shipped


until the first week of March. This is the main restrictive factor of our group’s
performance. Wh
ile the group has been on time for all assignments, this obstacle has
done nothing but hinder our advancement in this project. The only possible way that we
can work around this is to redesign the aspects of the project that don’t require the parts
we hav
e not received.

The Open GL programming has been planned out and constructed by the group
for the purpose of mapping the desired area. The algorithm that controls the robot’s
movement has also been developed. The programming of the robot is the last pie
ce to be
completed.


Several problems were encountered during the development of the OpenGL
demonstration. There was a problem with the reshaping and resizing of the map window
in the WINDOWS operating system. The window would not redraw objects in the
c
orrect location after the window was resized. This problem was resolved with an
OpenGL function to set the window to full screen. Another problem was that objects
were not being drawn properly. This problem required more research into the capabilities
o
f OpenGL. The end result was the use of a set of OpenGL functions that change the
location of the coordinates of the origin. These functions also change the position and
direction of the three
-
dimensional axis (x
-
axis, y
-
axis, and z
-
axis). Some addition
al
research was done in order to render text on the screen.

Gantt Chart and Budget Review


The following is a new Gantt chart, which has been adjusted for our new time line
assuming that our parts will arrive over spring break. The areas that are shaded

represent
time that was lost in that particular portion of the project due to the delay in the parts.






The following table illustrates the budget shortfall, which has occurred. One factor was
we did not anticipate shipping and

handling charges. The second factor was the
adjustment of the order to our main supplier to hopefully receive the parts in a timely
fashion.










Projected Parts Budget



Materials:




TJ Pro Robot Kit

$249.95




MC68HC11 Microcontroller





Robot Body





Tires
-

2.75" (2)





Ball Bearing Servos (2)





Various I/O Ports





IR Emitters & Sensors





Programming Software




Serial Communications Port

$25.95



Serial Cable

$9.95



IR Emitters

$3.70



IR Detectors (40 k
Hz)

$25.90



Miniature Snap Switches

$2.48



Wireless Transmitter

$20.00



Wireless Receiver

$33.44


Total Material Cost



$ 371.37






Actual Parts Budget



Materials:




TJ Pro Robot Kit

$ 334.95




MC68HC11 Microcontroller





Robot Body





Tires
-

2.75" (2)





Ball Bearing Servos (2)





Various I/O Ports





IR Emitters & Sensors





Programming Software





Serial Communications Port





Serial Cable





IC Software





A/C Adapter





NiCad Batteries (6)




IR Emitters

$3.70



IR Detectors (40 kHz)

$25.90



Miniature Snap Switches

$2.48



Wireless Transmitter

$20.00



Wireless Receiver

$33.44


Shiping and Handling Charges




Total Shipping Charges


$20.26


Total Material Cost



$ 440.73





Overbudget Costs



$ 69.36




III Conclusion


At this time the successfully completion of our project is unknown. In our Gantt
chart we had implemented about three weeks of time extra on certain

areas of our project.
With the over four
-
week delay in the main shipment of parts we are uncertain on which
goals we will be able to obtain. Assuming that the parts arrive over spring break we feel
that there is a good chance that we will be able to cre
ate the first stage of our project
successfully. We believe that by Poster Day on April 24 we will have at least a working
model of our project with the ability to map the parameter of the room.